Method of improving a preplanned movement sequence for the control of a robot
For the control of a robot operated as part of a human-robot collaboration, a preplanned movement sequence is provided that comprises a defined movement path along which the robot is to move in order to perform a specific task, and a defined speed development according to which each point of the movement path is associated with a speed at which the robot is to move at the respective point. A method of improving the preplanned movement sequence comprises the following steps: The robot is controlled to repeatedly run through the preplanned movement sequence; during the repeated run-through of the preplanned movement sequence, an environment of the robot is monitored and, in so doing, disturbances are detected that emanate from objects that are located in this environment or that enter into this environment so that an endangerment of the respective object by the robot results therefrom; on the repeated run-through, for a plurality of different sections of the movement path, the frequency of disturbances detected in the respective section is determined; after the repeated run-through of the preplanned movement sequence, a modified speed development is determined in that, for the different sections, the speeds associated with the points of the respective section are modified in dependence on the frequency determined for the respective section; finally, an improved movement sequence that comprises the modified speed development is provided for the further control of the robot.
1 . A method of improving a preplanned movement sequence for the control of a robot operated as part of a human-robot collaboration, wherein the preplanned movement sequence comprises a defined movement path along which the robot is to move in order to perform a specific task, and a defined speed development according to which each point of the movement path is associated with a speed at which the robot is to move at the respective point, the method further comprising:
controlling the robot to repeatedly run through the preplanned movement sequence;
during the repeated run-through of the preplanned movement sequence, monitoring an environment of the robot and, in so doing, detecting disturbances that emanate from objects that are located in the environment or that enter into the environment so that an endangerment of the respective object by the robot results therefrom,
on the repeated run-through of the preplanned movement sequence, for a plurality of different sections of the movement path, determining a frequency of disturbances detected in the respective section, this frequency being a frequency of how often a disturbance has been detected during the repeated run-through of the preplanned movement sequence while the robot was located at a point of the movement path that lies in the respective section;
after the repeated run-through of the preplanned movement sequence, determining a modified speed development by modifying, for the different sections, the speeds associated with the points of the respective section in dependence on the frequency determined for the respective section; and
providing for the further control of the robot an improved movement sequence that comprises the modified speed development.
2 . The method in accordance with claim 1 , wherein the improved movement sequence comprises the same movement path as the preplanned movement sequence.
3 . The method in accordance with claim 1 ,
wherein the plurality of different sections adjoin one another without gaps and together form at least a part of the movement path,
and wherein the number and/or the length of the sections is/are settable.
4 . The method in accordance with claim 1 , wherein the determination of the modified speed development comprises associating points of sections for which a comparatively large frequency has been determined with a speed that is decreased in comparison with the speed development of the preplanned movement sequence, and/or associating points of sections for which a comparatively small frequency has been determined with a speed that is increased in comparison with the speed development of the preplanned movement sequence.
5 . The method in accordance with claim 1 , wherein the determination of the modified speed development comprises, for each of the sections, associating each point of the respective section with a modified speed that is determined based on the speed that is associated with the respective point or with one or more other points of the respective section in accordance with the speed development of the preplanned movement sequence, in dependence on the frequency determined for the respective section.
6 . The method in accordance with claim 5 , wherein the determination of the modified speed comprises multiplying said speed on which the determination is based by a factor that is a monotonically decreasing function of the frequency determined for the respective section.
7 . The method in accordance with claim 6 , wherein the monotonically decreasing function is a linear function.
8 . The method in accordance with claim 5 , wherein the modified speed is limited to values that are less than a limit speed.
9 . The method in accordance with claim 8 , wherein the limit speed is individually settable for the different sections.
10 . The method in accordance with claim 8 , wherein, for each point, the limit speed corresponds to the speed associated with the respective point in accordance with the speed development of the preplanned movement sequence.
11 . The method in accordance with claim 8 , wherein, for each of the sections, for each point of the respective section, the limit speed corresponds to the greatest speed of the speed development of the preplanned movement sequence within the respective section.
12 . The method in accordance with claim 8 , wherein, for each point, the limit speed corresponds to the overall greatest speed of the speed development of the preplanned movement sequence.
13 . The method in accordance with claim 5 , wherein a low-pass filter is applied to the determined modified speeds.
14 . The method in accordance with claim 1 , wherein the number of repetitions of said run-through of the preplanned movement sequence is settable.
15 . The method in accordance with claim 1 , wherein the movement sequence is iteratively improved by performing the method multiple times and, in so doing, using the improved movement sequence provided in a respective iteration as the preplanned movement sequence in the respective next iteration.
16 . The method in accordance with claim 1 , wherein said modifying, for the different sections, the speeds associated with the points of the respective section comprises multiplying an initial speed of the respective section with a factor that is a function of the frequency determined for the respective section, wherein the factor has a value between 1 and 2 if the frequency is zero, and is otherwise less than this value.
17 . The method in accordance with claim 16 , wherein said modifying, for the different sections, the speeds associated with the points of the respective section further comprises setting the modified speed to a limit speed if the result of said multiplying is greater than the limit speed.
18 . A method of improving a preplanned movement sequence for the control of a robot operated as part of a human-robot collaboration, wherein the preplanned movement sequence comprises a defined movement path along which the robot is to move in order to perform a specific task, and a defined speed development according to which each point of the movement path is associated with a speed at which the robot is to move at the respective point, the method further comprising:
controlling the robot to repeatedly run through the preplanned movement sequence;
during the repeated run-through of the preplanned movement sequence, monitoring an environment of the robot and, in so doing, detecting disturbances that emanate from objects that are located in the environment or that enter into the environment so that an endangerment of the respective object by the robot results therefrom,
on the repeated run-through of the preplanned movement sequence, for a plurality of different sections of the movement path, determining a frequency of disturbances detected in the respective section;
after the repeated run-through of the preplanned movement sequence, determining a modified speed development by modifying, for the different sections, the speeds associated with the points of the respective section in dependence on the frequency determined for the respective section; and
providing for the further control of the robot an improved movement sequence that comprises the modified speed development;
wherein said modifying, for the different sections, the speeds associated with the points of the respective section comprises multiplying an initial speed of the respective section with a factor that is a function of the frequency determined for the respective section, wherein the factor has a value between 1 and 2 if the frequency is zero, and is otherwise less than this value.
19 . The method in accordance with claim 18 , wherein said modifying, for the different sections, the speeds associated with the points of the respective section further comprises setting the modified speed to a limit speed if the result of said multiplying is greater than the limit speed.